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This approach simplifies the derivation while also providing the solution to the general case in 3D, including motion over rolling terrain. Angular velocity remains explicit rather than encoded as the time derivative of a rotation matrix. The equations are derived and can be implemented recursively using a single equation that applies to all cases. Acceleration kinematics are uniquely derivable in reasonable effort. The recursive formulation also leads to efficient computer implementations that reflect the modularity of real mechanisms.<\/jats:p>","DOI":"10.1177\/0278364914551773","type":"journal-article","created":{"date-parts":[[2015,1,26]],"date-time":"2015-01-26T20:46:13Z","timestamp":1422305173000},"page":"288-313","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":12,"title":["Recursive kinematic propagation for wheeled mobile robots"],"prefix":"10.1177","volume":"34","author":[{"given":"Alonzo","family":"Kelly","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Neal","family":"Seegmiller","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,1,26]]},"reference":[{"key":"bibr1-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800502"},{"key":"bibr2-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.02.004"},{"key":"bibr3-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1109\/70.345935"},{"key":"bibr4-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1109\/70.481750"},{"key":"bibr5-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2009.5246109"},{"key":"bibr6-0278364914551773","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281907"},{"key":"bibr7-0278364914551773","volume-title":"Introduction to Robotics: Mechanics and Control. 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